Dear Wanda,
I had them caterpillars on my Milkweed in Florida, but I had enough of the MW so I did not worry, I actually brought some inside and raised them like I did with all my other caterpillars..Yes, they are not Monarchs but they are a pretty kind of moth,just the caterpillars are ugly..lol
It depends on you if you wanna raise them, or handpick them or move them to Dogbane which they also love..
I definetely would not spray the Milkweed with any insecticide..
Good Luck
Butterfly-Greetings
Susanne(SUE)

Here is a link that might be useful: Milkweed Tussock Caterpillar

Maybe you could find a patch of wild milkweed you could move them to?

Are you thinking of dunking them into a jar of soapy water? That would be better than spraying them with it because the Monarch cats would also be affected.

Thanks alot for all the info.
If it is a moth worm and nothing bad, then I will leave it alone.
I don't know where a patch of wild milkweed would be. Mine is in my yard.

I think they are cute as caterpillars. I wish I had them here. I have milkweed galore going to waste.

If I had them on my milkweed, I would probably smash them. Only thing I want on my milkweed is the monarch cats (come on, I've been waiting for them). Since I use my swamp milkweed as an ornamental, I want it to look nice as well as attract monarchs.

I, too have milkweed with nothing on it. I would just let them be.

Thank you.
I will just let them alone and hope they don't devour the whole milkweed before the monarchs get her.

They do eat quite a bit.